/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef IGNITION_GAZEBO_COMPONENTS_JOINTFORCE_HH_
#define IGNITION_GAZEBO_COMPONENTS_JOINTFORCE_HH_

#include <vector>

#include <ignition/gazebo/components/Factory.hh>
#include <ignition/gazebo/components/Component.hh>
#include <ignition/gazebo/components/Serialization.hh>
#include <ignition/gazebo/config.hh>

namespace ignition
{
namespace gazebo
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
namespace components
{
  /// \brief Force applied to a joint  in SI units (Nm for revolute, N for
  /// prismatic).
  using JointForce = Component<std::vector<double>, class JointForceTag,
                               serializers::VectorDoubleSerializer>;
  IGN_GAZEBO_REGISTER_COMPONENT(
      "ign_gazebo_components.JointForce", JointForce)
}
}
}
}

#endif
